CN110979669B

CN110979669B - Variable dish airship unmanned aerial vehicle

Info

Publication number: CN110979669B
Application number: CN201911158749.8A
Authority: CN
Inventors: 王汉熙; 刘博�; 杨彦东; 付镇洧; 黄鑫
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2019-11-22
Filing date: 2019-11-22
Publication date: 2021-06-01
Anticipated expiration: 2039-11-22
Also published as: CN110979669A

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and provides a variable butterfly airship unmanned aerial vehicle which comprises a butterfly air bag, a motor arm, an air bag bracket assembly, a compound eye camera and a propeller, the interior of the disk-shaped air bag is supported by an air bag support component, the air bag support component comprises a bearing seat, a gearwheel, a screw, a motor, a pinion, an upper supporting rod, a lower supporting rod, a connecting rod, a disk and a supporting rod fixing seat, a motor is fixed on the disc, the motor drives a pinion to be meshed with a gearwheel, and then the bearing seat moves up and down along the screw rod through the meshing of threads at the center of the bearing seat and the screw rod, and then realize that the disc drives the swing of upper strut, gasbag support top disc links to each other with four motor arms, and the end of every motor arm is equipped with the motor cabinet, and the motor output shaft links to each other with the screw, 6 compound eye cameras are installed to dish gasbag lower part circumference symmetry. The device provided by the invention has the advantages of simple structure, convenience in use and carrying, and can effectively improve the endurance time of the unmanned aerial vehicle.

Description

Variable dish airship unmanned aerial vehicle

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a variable saucer-shaped airship unmanned aerial vehicle.

Background

At present, unmanned vehicles are widely applied to the fields of military investigation and detection, missile early warning, aerial photography and videography, security and protection monitoring, disaster area search and rescue and the like. However, the existing unmanned aerial vehicle generally has the following problems: (1) the problem of short dead time, the existing solution is to develop a novel fuel cell, an aluminum battery and the like to increase the dead time of the aircraft, but the increased endurance time is limited and the cost is high by the method, if a foldable micro airship is adopted, the hovering can be realized without high-speed movement of blades because an air bag of the airship has buoyancy in the air, the power is all used for pushing the airship to advance, and the dead time is greatly prolonged. (2) The problem of electromagnetic interference crash and strong wind turbulence crash, and (3) the problem of poor portability, and the existing solution is to adopt a method for reducing the size of an air bag, but the effective load of the airship can be greatly reduced, so that the function of the airship is limited.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides the variable butterfly airship unmanned aerial vehicle which is simple in structure, convenient to use and carry and capable of effectively prolonging the endurance time of the unmanned aerial vehicle.

The aim of the invention is achieved by the following technical measures: a variable butterfly airship unmanned aerial vehicle comprises a butterfly airbag, a motor arm, an airbag support assembly, a compound eye camera and a propeller, wherein the interior of the butterfly airbag is supported by the airbag support assembly, the airbag support assembly comprises a bearing seat, a gear wheel, a screw rod, a motor, a pinion, an upper support rod, a lower support rod, a connecting rod, a disc and a support rod fixing seat, the disc is divided into an upper layer and a lower layer which are completely the same, the upper support rod and the lower support rod are connected through the connecting rod, the other end of the upper support rod is hinged with the support rod fixing seat, the upper surface and the lower surface of the support rod fixing seat are provided with a protruding structure, the protruding structure is matched with a groove at the corresponding position of the upper disc and the lower disc to clamp and fix, the center of the disc is provided with a hole which is used as the outer wall of, the pneumatic air bag support is matched with a screw rod, the bottom of a bearing seat is connected with a large gear, a motor is fixed on a disc, the motor drives a small gear to be meshed with the large gear, the bearing seat is rotated through positive and negative rotation of the motor, the bearing seat is moved up and down along the screw rod through threads at the center of the bearing seat and meshing of the screw rod, then the disc drives an upper supporting rod to swing, the structure of the other end of the lower supporting rod is completely symmetrical to the structure of the other end of the upper supporting rod, the disc at the top of the air bag support is connected with four motor arms, a motor base is arranged at the tail end of each motor arm, the motor is installed on the motor base, a motor output shaft is connected with a propeller, and 6.

In the above technical scheme, the motor arm, the upper support rod, the lower support rod and the propeller are all made of carbon fiber materials.

In the above technical scheme, the screw is made of light aluminum alloy.

The inside helium that fills of dish gasbag, helium can produce lift, can offset the weight of partly unmanned aerial vehicle self, makes the energy reduction of unmanned aerial vehicle time consumption when time lag, and then reduces the use of electric quantity, extension unmanned aerial vehicle duration. During cruising, the dish-shaped air bag can not collapse due to the internal support, the appearance of the air bag conforms to (UA-79-SF-187) wing profile, lift force can be generated, the use of electric quantity is further reduced, the endurance time of the unmanned aerial vehicle is prolonged, a stall angle of 40 degrees is provided, and the controllability at low speed is good.

The variable saucer-shaped airship unmanned aerial vehicle combines a small airship and a multi-rotor unmanned aerial vehicle, utilizes the air bag of the unmanned aerial vehicle to generate extra lift force, reduces power required by the maintenance of the lift force, and reduces operation noise. Meanwhile, the unmanned plane has a structure of a multi-rotor unmanned plane, has good controllability and long endurance time, can exert the common advantages of buoyancy and aerodynamic force, and provides the loading capacity which is several times higher than that of the traditional airship. In the civil field, the characteristic of long-time air stagnation of the variable saucer-shaped airship unmanned aerial vehicle can support a longer-time shooting task, and the variable saucer-shaped airship unmanned aerial vehicle can be widely applied to the fields of fire monitoring, crops monitoring and security protection. In the military field, when a reconnaissance task is executed, the variable saucer-shaped airship unmanned aerial vehicle can silently reconnaissance a target for a long time without being discovered.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a variable saucer-shaped airship unmanned aerial vehicle.

Fig. 2 is another schematic diagram of the overall structure of the variable dish airship drone of the present invention.

Fig. 3 is a schematic view showing the overall structure of the airbag support assembly of the present invention.

FIG. 4 is a schematic view showing a state where an airbag support assembly of the present invention is accommodated.

Fig. 5 is a schematic view of a connection structure of the other end of the upper support pole in the present invention.

Fig. 6 is another schematic view of the connection structure of the other end of the upper support pole in the present invention.

FIG. 7 is a graph showing the relationship between the angle θ and the height h of the airbag support assembly of the present invention.

Wherein: 1. the compound eye camera comprises a bearing seat, 2. a large gear, 3. a screw, 4. a motor, 5. a small gear, 6. an upper supporting rod, 7. a connecting rod, 8. a lower supporting rod, 9. a disc, 10. a supporting rod fixing seat, 11. a disc-shaped air bag, 12. a motor arm, 13. a propeller and 14. a compound eye camera.

Detailed Description

The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and embodiments.

As shown in fig. 1 to 6, this embodiment provides a variable saucer-shaped airship unmanned aerial vehicle, which includes a saucer-shaped airbag 11, a motor arm 12, an airbag support assembly, a compound eye camera 14, and a propeller 13, where the inside of the saucer-shaped airbag is supported by the airbag support assembly, the airbag support assembly includes a bearing seat 1, a gearwheel 2, a screw 3, a motor 4, a pinion 5, an upper support rod 6, a lower support rod 8, a connecting rod 7, a disk 9, and a support rod fixing seat 10, where the disk 9 is divided into an upper layer and a lower layer, and the upper layer and the lower layer are completely the same, the upper support rod 6 and the lower support rod 8 are connected through the connecting rod 7, the other end of the upper support rod 6 is hinged to the support rod fixing seat 10, the upper surface and the lower surface of the support rod fixing seat 10 are provided with protruding structures, the protruding structures are matched, the bearing is connected with a bearing seat 1, the bearing seat 1 is fixedly assembled with a disc, the center of the bearing seat 1 is provided with a thread, matched with the screw rod 3, the bottom of the bearing seat 1 is connected with the big gear 2, a motor 4 is fixed on the disc, the motor 4 drives the small gear 5 to be meshed with the big gear 2, the bearing seat is rotated by the positive and negative rotation of the motor, and then the bearing seat moves up and down along the screw rod by the engagement of the screw thread at the center of the bearing seat and the screw rod, thereby realizing that the disc drives the upper supporting rod 6 to swing, the structure of the other end of the lower supporting rod is completely symmetrical with the structure of the other end of the upper supporting rod 6, the disc at the top of the air bag support is connected with four motor arms, a motor base is arranged at the tail end of each motor arm, a motor is mounted on each motor base, a motor output shaft is connected with a propeller, and 6 compound eye cameras are symmetrically mounted on the circumference of the lower portion of the disc-shaped air bag.

In the above embodiment, the motor arm 12, the upper support rod 6, the lower support rod 8, and the propeller 14 are made of carbon fiber.

In the above embodiment, the screw 3 is made of light aluminum alloy.

In the above embodiment, the disk-shaped bladder 11 is a single layer of ETFE film.

In the above embodiment, the disc-shaped airbag 11 may also be formed by laminating an ETFE film, an amorphous silicon solar cell film, and a polyimide film, where the amorphous silicon solar cell film is adhered to the inner surface of the ETFE film on the upper half portion of the airship, and the polyimide film is adhered to the lower portion of the amorphous silicon solar cell film.

The working principle of the embodiment is as follows:

variable dish airship unmanned aerial vehicle when taking off, fills in advance into the helium in order to produce lift, and the motor starts afterwards, and screw 13 on the motor produces lift and makes unmanned aerial vehicle lift off, gets into behind the stage of cruising, and unmanned aerial vehicle can be like traditional many rotor crafts, through the rotational speed control flight direction of controlling every rotor. When flying flatly, the airflow flows through the surface of the dish-shaped air bag to generate lift force and maintain the air stagnation. After the camera enters a shooting range, a bearing seat in the screw 3 rotates, the screw is about 1 m long, and the distance between the upper end part disc and the lower end part disc of the bracket is changed through thread transmission; the screw rod part uses step motor, realizes the control of airship tip along screw rod movement distance through the control to the motor revolution, and here, the drive ratio of pinion 2 and gear wheel 2 that the motor drove is 3, and the pinion rotates 1 circle promptly, and the gear wheel rotates 1/3 circles, and screw rod screw thread and bearing frame internal thread pitch d get 0.6mm, so the motor rotates the round in the positive (negative) direction, drives airship tip disc upward (down) motion 1/3d =0.2mm, has just also accurately controlled the appearance change degree of dish form gasbag.

After the airship is provided with the skin, the included angle theta between any ray emitted outwards from the midpoint of the lower skin of the airship and the horizontal plane and the height h of the airbag form the following relationship through calculation:

the relationship between the height and the angle of the airship is theta =84 ° -arccos (

) (the angle is negative when the balloon is highly deflated).

The relationship between the angle θ and the height h is shown in fig. 7.

When the distance between the upper end part disc and the lower end part disc of the air bag support component is changed, the disc drives the supporting rod to swing, so that the air bag support is deformed, and the included angle theta between the surface of the air bag and the horizontal plane is changed. The change of the angle of the balloon surface to the horizontal plane allows the 6 compound eye cameras to obtain shooting angles from 10 ° to-20 °.

The state of the airship when h approaches 0 is the state of the airship when stowed, as shown in fig. 4.

Details not described in the present specification belong to the prior art known to those skilled in the art.

It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention, such that any modification, equivalent replacement or improvement made within the spirit and principle of the present invention shall be included within the scope of the present invention.

Claims

1. The utility model provides a variable dish airship unmanned aerial vehicle, characterized by: the disc type compound eye camera comprises a disc-shaped air bag, a motor arm, an air bag support assembly, a compound eye camera and a propeller, wherein the inside of the disc-shaped air bag is supported by the air bag support assembly, the air bag support assembly comprises a bearing seat, a gear wheel, a screw rod, a motor, a pinion, an upper supporting rod, a lower supporting rod, a connecting rod, a disc and a supporting rod fixing seat, the disc is divided into an upper layer and a lower layer which are completely the same, the upper supporting rod and the lower supporting rod are connected through the connecting rod, the other end of the upper supporting rod is hinged with the supporting rod fixing seat, the upper surface and the lower surface of the supporting rod fixing seat are provided with a protruding structure, the protruding structure is matched with grooves in corresponding positions of the upper disc and the lower disc and is clamped and fixed, the center of the disc is provided with a hole and is used, a motor is fixed on the disc, the motor drives a pinion to be meshed with a gearwheel, a bearing seat is rotated through forward and reverse rotation of the motor, the bearing seat is moved up and down along the screw rod through meshing of threads in the center of the bearing seat and the screw rod, so that the disc drives an upper supporting rod to swing, the structure of the other end of the lower supporting rod is completely symmetrical to that of the other end of the upper supporting rod, the disc at the top of the air bag support is connected with four motor arms, a motor base is arranged at the tail end of each motor arm, a motor is installed on the motor base, a motor output shaft is connected with a propeller, and 6 compound eye cameras are symmetrically installed on the circumference of the lower part of the disc; the motor arm, the upper supporting rod, the lower supporting rod and the propeller are all made of carbon fiber materials, and the screw rod is made of light aluminum alloy materials.

2. The variable disk airship drone of claim 1, wherein: the dish-shaped air bag is a single-layer ETFE film.